umv_systems_design_data_s1

DISCLAIMER: This data is released as part of a paper submission only. We do not guarantee maintenance. Users should probably fork the repo if they need modifications.

Experimental time series data for Supplementary Data S1 in "System Design of the Ultra Mobility Vehicle".

The provided dataset contains the specific measurements corresponding to the dynamic maneuvers discussed in the main text:

1. Clearance positions for the lateral hopping experiment (Fig. 3);
2. Clearance height, and electrical power demand for the table jump (Fig. 4A);
3. Clearance height for the table jump repeatability experiment (Fig.4B); and
4. Whole-body inertia Iyy and angular velocity during the front flip (Fig. 5).

CoM positions and angular momentum trajectories were also provided for the aforementioned experiments.

Also included are simulation data used to generate the design optimization plots in the main text:

1. CoM apogee heights corresponding to changes in link masses (Fig. 7A); and
2. CoM apogee heights corresponding to changes in gear ratios (Fig. 7B).

All data are provided in MKS units unless otherwise specified.

Nomenclature

• $\textit{rt}$: Relative To.
• $\textit{ewrt}$: Expressed With Respect To.
• timestamps: Time corresponding to all data except those associated with motors.
• pos_com_hist: CoM positions (x, y, z) $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• pos_clear_hist: Clearance positions (x, y, z) $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• heading_vec_hist: Heading of the Bike (x, y, z) $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• angmom_wb_hist: Whole-body angular momentum (x, y, z) $\textit{rt}$ the world frame and $\textit{ewrt}$ the robot's bike (base) frame.
• h_com_hist: CoM height (z) $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• h_clear_hist: Clearance height (z) $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• I_hist: Whole-body inertia (Ixx, Iyy, Izz) $\textit{rt}$ the world frame and $\textit{ewrt}$ the robot's bike (base) frame.
• angvel_base_hist: Angular velocity of the Bike (x, y, z) $\textit{rt}$ the world frame and $\textit{ewrt}$ the robot's bike (base) frame.
• motor_timestamps: Time corresponding to motor data.
• motor_current: Bus current, A.
• motor_voltage: Bus voltage, V.
• motor_power: Total power draw, W.
• h_com_star: CoM height (z) at apogee, $\textit{rt}$ and $\textit{ewrt}$ the world frame.
• m_0: Mass of the Head, kg.
• m_1: Mass of the Neck, kg.
• m_2: Mass of the Bike, kg.
• gr_beta: Gear ratio $\text{GR}_\beta$, for actuators $A_2$ and $A_3$.
• gr_alpha: Gear ratio $\text{GR}_\alpha$, for actuators $A_0$ and $A_1$.

Generating Plots

The code provided in the src folder generates the aforementioned four plots.

1. Clone this directory wherever you want.

2. Run the following setup script. Then restart your shell.

   sudo apt update
   sudo apt install texlive texlive-latex-extra texlive-fonts-recommended dvipng cm-super texlive-fonts-extra
   # for Science publication plots
   sudo apt install fonts-noto-core fonts-noto
   # this is needed to fix a zlib library compatibility issue
   sudo apt install zlib1g=1:1.2.11.dfsg-2ubuntu9.2
   # install uv
   wget -qO- https://astral.sh/uv/install.sh | sh

3. Run the following in the base directory. An "output" folder will automatically be created, and plots will be saved there in PDF format.

   uv run src/main.py